.gitmodules

@@ -46,3 +46,6 @@
 [submodule "ls2n_drone_interfaces"]
 	path = ls2n_drone_interfaces
 	url = git@gitlab.univ-nantes.fr:ls2n-drones/ls2n_drone_interfaces.git
+[submodule "ls2n_drone_bringup"]
+	path = ls2n_drone_bringup
+	url = git@gitlab.univ-nantes.fr:ls2n-drones/ls2n_drone_bringup.git

docker/Dockerfile

-# syntax=docker/dockerfile:1
-# Author: Lionel GENEVE
-# Description: dockerfile for creating the simulation environment of the LS2N drones
-# with ROS2 humble, Gazebo Forteress and the PX4 stack
-
-FROM osrf/ros:humble-desktop-full
-
-# Build arguments 
-ARG USER_NAME=user
-ARG USER_UID=1000
-ARG USER_GID=$USER_UID
-ARG ROS_DOMAIN_ID=11
-
-# Environment variables
-ENV ROS_WS=/home/$USER_NAME/workspace/ros2_ws
-ENV ROS_DISTRO=humble
-ENV TZ=Europe/Paris
-
-# Update system packages
-RUN apt update -y --fix-missing && apt upgrade -y
-
-# Install commom packages
-RUN apt install -y apt-utils locales curl wget git tree cmake gnupg gnupg2 \
-    lsb-release software-properties-common x11-apps mesa-utils libgl1-mesa-glx
-
-RUN apt install -y nano less xterm clang-format ccache lcov lld gdb \
-    bash-completion valgrind kcachegrind heaptrack hotspot
-
-RUN apt install -y gnome-terminal
-
-RUN apt install -y python3-pip python3-colcon-common-extensions python3-vcstool \
-    python3-rosdep
-
-RUN pip3 install -U argcomplete rosbags
-RUN pip3 install kconfiglib configlib jinja2 jsonschema pyros-genmsg
-
-# Install additional ROS packages
-RUN apt update && apt install -y ros-dev-tools \
-    ros-$ROS_DISTRO-rqt* \
-    ros-$ROS_DISTRO-rviz2 \
-    ros-$ROS_DISTRO-gazebo-ros-pkgs \
-    ros-$ROS_DISTRO-gazebo-ros \
-    ros-$ROS_DISTRO-gazebo-ros-pkgs \
-    ros-$ROS_DISTRO-joint-state-publisher \
-    ros-$ROS_DISTRO-robot-state-publisher
-
-# Install Gazebo Fortress
-RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-RUN apt update && apt install -y ignition-fortress && apt clean
-#RUN apt -y install wget lsb-release gnupg
-#RUN sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-#RUN wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-
-# Create ROS2 workspace
-RUN mkdir -p $ROS_WS/src
-
-# Clone ls2_drone_env repository
-RUN cd $ROS_WS/src && git clone --depth 1 -b test_uxcre --recurse-submodules https://gitlab.univ-nantes.fr/ls2n-drones/ls2n_drone_env.git
-
-# Init and update rosdep
-#RUN rosdep init
-RUN rosdep update
-
-RUN . /opt/ros/$ROS_DISTRO/setup.sh \
-    && cd $ROS_WS \
-    && rosdep install --from-paths src --ignore-src -y -r
-
-# Build ROS2 workspace
-RUN . /opt/ros/$ROS_DISTRO/setup.sh \
-    && cd $ROS_WS \
-    && colcon build
-
-# make bash default to run the setup.bash
-SHELL ["/bin/bash", "-c"]
-
-# Source ROS2
-RUN source /opt/ros/$ROS_DISTRO/setup.bash
-
-#RUN ros2 launch ls2n_drone_sitl sitl_drone_bridge.launch.py display_terminal:=false
-
-COPY ./ros2_entrypoint.sh /home/$USER_NAME
-RUN chmod +x /home/$USER_NAME/ros2_entrypoint.sh
-ENTRYPOINT ["/home/$USER_NAME/ros2_entrypoint.sh"]
-
-#CMD ["sleep", "infinity"]
-ENV ROS_DOMAIN_ID=$ROS_DOMAIN_ID
-#RUN export ROS_DOMAIN_ID=$ROS_DOMAIN_ID
-EXPOSE 8888
\ No newline at end of file

docker/ros2_entrypoint.sh

-#!/bin/bash
-set -e
-
-# Source the ROS2 environment setup
-source /opt/ros/$ROS_DISTRO/setup.bash
-
-# Source the Gazebo environment setup to avoid assertion error in gz-client
-#source /usr/share/gazebo/setup.bash
-
-# activate the colcon autocomplete
-source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
-
-# It's worth noting that exec "$@" is often used in combination with the -e option,
-# which sets the exit code of the script to the exit code of the last command executed.
-# This allows you to propagate errors from the command line to the script and handle them appropriately.
-exec "$@"
\ No newline at end of file

docker/run_image.sh

-docker run -it --entrypoint /bin/bash ls2n_drone_sim

ls2n_drone_bridge @ cf839895

-Subproject commit 1e4a959f3f53d0e562cfd893e72ea842b8258a01
+Subproject commit cf8398959c6ab321e776640cf1f81006bc399ec0

ls2n_drone_bringup @ ffb8aa45

+Subproject commit ffb8aa4520475f83aa4a08af9e971568e612e68a

ls2n_drone_command_center @ a3ae1ca0

-Subproject commit c1bb877ef78b3afa0af798042affc8ce8871bb53
+Subproject commit a3ae1ca07a7fcfcf37052f4ec328a6e2c8c3eef6

ls2n_drone_controllers @ 04f08c0e

-Subproject commit 7e2778c58f04928c8c8afaf486318a2fade2a73a
+Subproject commit 04f08c0e29ba24112606811ca2565a01907b1a1e

ls2n_drone_description @ 7135a67c

-Subproject commit 36bb30ac88293a584dfdeddc9d5976ba533e9d07
+Subproject commit 7135a67c8961325bc8c17bb43c50b5c12d4cfa69

ls2n_drone_interfaces @ 76a3f407

-Subproject commit b0d837f684b82545bc78968b6af8319fcfa4eb50
+Subproject commit 76a3f407213c55b1a7e2b3f6d1fcb63beb14a954

ls2n_drone_joystick @ 8f9c8a0b

-Subproject commit c2bb3a8cd82725048d8292c34fa7db3ec2ddde63
+Subproject commit 8f9c8a0bcdf53dbf57aa9a0bce804cf763b43447

ls2n_drone_sitl @ d24b3114

-Subproject commit 0f24f4bdf213788682adca5d0013c37d5f06a349
+Subproject commit d24b3114a909728c8cc89c9577e89e5096e0b139